Welcome to TMC !!!
It is a wonderful source of information.
It always helps to mention the Year, Battery, and number of seats
so we are able to compare to known fixes...
My March 2018 Model X100D 7-seats had this problem
with the right passenger seat touching and rubbing the FWD.
As you mention it caused noises.
They repaired my car under service bulletin SB-19-13-001
It involved replacing 2 parts in the seat back:
Replace 1139116-00-A IM Back Panel
Replace 1086176-00-C ECU Mount Brkt
The seat no longer touches the FWD and no noises present.